Naslov
Stabilizing Model Predictive Control of a Gantry Crane Based on Flexible Set-Membership Constraints

Autori
Ileš, Šandor ; Lazar, Mircea ; Kolonić, Fetah ; Matuško, Jadranko

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of 5th IFAC Conference on Nonlinear Model Predictive Control / - , 2015, 248-253

Skup
5th IFAC Conference on Nonlinear Model Predictive Control 2015 (NMPC'15)

Mjesto i datum
Sevilla, Španjolska, 17.09.2015. - 20.09.2015

Vrsta sudjelovanja
Poster

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Keywords: Motion Control; Distributed Model Predictive Control; Stability and Recursive Feasibility

Sažetak
This paper presents a stabilizing distributed model predictive control of a gantry crane taking into account the variation of cable length. The proposed algorithm is based on the off-line computation of a sequence of 1-step controllable sets and a condition that enables flexible convergence towards a suitably chosen terminal set. The crane is modeled as a two dynamically coupled subsystems where the coupling among them is treated as a variation in the system parameters. In this way the model is converted to a polytopic linear parameter varying model which is used to calculate the terminal set and 1-step controllable sets. The proposed approach is verified through simulation and experimental test on the laboratory model.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

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